Home – Home – Jornals – Avtometriya 2021 number 4

In this paper the procedure of the controller synthesis for a linearized system “double inverted pendulum on a cart” based on the sliding modes technique is described. The main peculiarity of this method is the two-stage controller calculation. At the first stage, the canonical basis transformation of the model object is performed, and the control algorithm is organized in the form of a function of canonical variables. At the second stage, the controller definition related to the initial basis is obtained via the inverse transformation of variables. As the direct measurement of several internal variables for the type of the object under research is possible, it is needed to estimate the remaining object variables for the controller implementation. The use of several state estimation filters of the same kind is proposed for this purpose, which allows definition of the entire state vector, although only some of state variables can be measured directly. The calculated controller ensures pendulum stabilization in the upper position with the low value of angle deviation from the vertical. The results of the numerical simulation of the system with the help of the MatLab Simulink integrated environment illustrate the main properties of the system.